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Stabilization of computational procedures for constrained dynamical systems

A new stabilization method of treating constraints in multibody dynamical systems is presented. By tailoring a penalty form of the constraint equations, the method achieves stabilization without artificial damping and yields a companion matrix differential equation for the constraint forces; hence, the constraint forces are obtained by integrating the companion differential equation for the constraint forces in time. A principal feature of the method is that the errors committed in each constraint condition decay with its corresponding characteristic time scale associated with its constraint force. Numerical experiments indicate that the method yields a marked improvement over existing techniques.

Park, K. C.

Time variant analysis of large scale constrained rotorcraft systems dynamics - An exploitation of IBM-3090 vector-processor's pipe-lining feature

A generalized algorithmic procedure is presented for handling the constraints in transmissions, which are treated as a multibody system of interconnected rigid/flexible bodies. The type of constraints are classified based on the interconnection of the bodies, assuming one or more points of contact to exist between them. The method is explained through flow charts and configuration/interaction tables. A significant increase in speed of execution is achieved by vectorizing the developed code in computationally intensive areas. The study of an example consisting of two meshing disks rotating at high angular velocity is carried out. The dynamic behavior of the constraint forces associated with the generalized coordinates of the system are plotted by selecting various modes. Applications are intended for the study of dynamic and subsequent prediction of constraint forces at the gear teeth contacting points in helicopter transmissions with the aim of improving performance dependability.

Amirouche, F. M. L.

Introducing Kynema, an Open-Source Performance-Portable Flexible-Multibody-Dynamics Solver

In this talk we introduce Kynema, an open-source general flexible-multibody-dynamics solver that is well suited for simulating wind turbine structural dynamics. Kynema uses a Lie-group time integrator for constrained systems and runs on both CPUs and GPUs. Timing results for simulations are presented for the IEA 15-MW turbine with and without aerodynamic forces.

17 WIND ENERGY

Quantum Routing and Entanglement Dynamics Through Bottlenecks

To implement arbitrary quantum circuits in architectures with restricted interactions, one may effectively simulate all-to-all connectivity by routing quantum information. We consider the entanglement dynamics and routing between two regions only connected through an intermediate “bottleneck” region with few qubits. In such systems, where the entanglement rate is restricted by a vertex boundary rather than an edge boundary of the underlying interaction graph, existing results such as the small incremental entangling theorem give only a trivial constant lower bound on the routing time (the minimum time to perform an arbitrary permutation). We significantly improve the lower bound on the routing time in systems with a vertex bottleneck. Specifically, for any system with two regions 𝐿,𝑅 with 𝑁 𝐿 ,𝑁 𝑅 qubits, respectively, coupled only through an intermediate region 𝐶 with 𝑁 𝐶 qubits, for any 𝛿 > 0 we show a lower bound of Ω⁢(𝑁$^{1−𝛿}_{𝑅}$/√𝑁 𝐿⁢ 𝑁 𝐶 ) on the Hamiltonian quantum routing time when using piecewise time-independent Hamiltonians, or time-dependent Hamiltonians subject to a smoothness condition. We also prove an upper bound on the average amount of bipartite entanglement between 𝐿 and 𝐶,𝑅 that can be generated in time 𝑡 by such architecture-respecting Hamiltonians in systems constrained by vertex bottlenecks, improving the scaling in the system size from 𝑂⁡(𝑁 𝐿⁢ 𝑡) to 𝑂⁡(√𝑁 𝐿⁢ 𝑡). As a special case, when applied to the star graph (i.e., one vertex connected to 𝑁 leaves), we obtain an Ω⁡(√𝑁 1−𝛿 ) lower bound on the routing time and on the time to prepare 𝑁/2 Bell pairs between the vertices. We also show that, in systems of free particles, we can route optimally on the star graph in time Θ⁡(√𝑁) using Hamiltonian quantum routing, obtaining a speedup over gate-based routing, which takes time Θ⁡(𝑁).

97 MATHEMATICS AND COMPUTING

The Use of Non-Standard Devices in Finite Element Analysis

A general mathematical description of the response behavior of thin-skin pneumatic envelopes and many other membrane and cable structures produces under-constrained systems that pose severe difficulties to analysis. These systems are mobile, and the general mathematical description exposes the mobility. Yet the response behavior of special under-constrained structures under special loadings can be accurately predicted using a constrained mathematical description. The static response behavior of systems that are infinitesimally mobile, such as a non-slack membrane subtended from a rigid or elastic boundary frame, can be easily analyzed using such general mathematical description as afforded by the non-linear, finite element method using an implicit solution scheme if the incremental uploading is guided through a suitable path. Similarly, if such structures are assembled with structural lack of fit that provides suitable self-stress, then dynamic response behavior can be predicted by the non-linear, finite element method and an implicit solution scheme. An explicit solution scheme is available for evolution problems. Such scheme can be used via the method of dynamic relaxation to obtain the solution to a static problem. In some sense, pneumatic envelopes and many other compliant structures can be said to have destiny under a specified loading system. What that means to the analyst is that what happens on the evolution path of the solution is irrelevant as long as equilibrium is achieved at destiny under full load and that the equilibrium is stable in the vicinity of that load. The purpose of this paper is to alert practitioners to the fact that non-standard procedures in finite element analysis are useful and can be legitimate although they burden their users with the requirement to use special caution. Some interesting findings that are useful to the US Scientific Balloon Program and that could not be obtained without non-standard techniques are presented.

Schur, Willi W.

Functional implications of component commonality in operational systems

The application of commonality in a system represents an attempt to reduce costs by reducing the number of unique components. Research in this area has primarily addressed a significant benefit of commonality, the reduction of parts inventories in assemble-to-order manufacturing systems. Likewise, in an operational system subject to component failures, spares inventories are reduced through the increased commonality of components. However, commonality tends to degrade system performance parameters, a degradation that can preclude commonality in resource-constrained systems such as spacecraft. The functional impacts of component commonality on a system is addressed in a manner that allows inclusion in a commonality analysis.

Thomas, Lawrence D.

Probing for Exoplanets Hiding in Dusty Debris Disks: Disk Imaging, Characterization, and Exploration with HST-STIS Multi-roll Coronagraphy

Spatially resolved scattered-light images of circumstellar debris in exoplanetary systems constrain the physical properties and orbits of the dust particles in these systems. They also inform on co-orbiting (but unseen) planets, the systemic architectures, and forces perturbing the starlight-scattering circumstellar material. Using HST/STIS broadband optical coronagraphy, we have completed the observational phase of a program to study the spatial distribution of dust in a sample of ten circumstellar debris systems, and one "mature" protoplanetrary disk all with HST pedigree, using PSF-subtracted multi-roll coronagraphy. These observations probe stellocentric distances greater than or equal to 5 AU for the nearest systems, and simultaneously resolve disk substructures well beyond corresponding to the giant planet and Kuiper belt regions within our own Solar System. They also disclose diffuse very low-surface brightness dust at larger stellocentric distances. Herein we present new results inclusive of fainter disks such as HD92945 (F (sub disk) /F (sub star) = 5x10 (sup -5) confirming, and better revealing, the existence of a narrow inner debris ring within a larger diffuse dust disk. Other disks with ring-like sub-structures and significant asymmetries and complex morphologies include: HD181327 for which we posit a spray of ejecta from a recent massive collision in an exo-Kuiper belt; HD61005 suggested to be interacting with the local ISM; HD15115 and HD32297, discussed also in the context of putative environmental interactions. These disks, and HD15745, suggest that debris system evolution cannot be treated in isolation. For AU Mic's edge-on disk we find out-of-plane surface brightness asymmetries at greater than or equal to 5 AU that may implicate the existence of one or more planetary perturbers. Time resolved images of the MP Mus proto-planetary disk provide spatially resolved temporal variability in the disk illumination. These and other new images from our HST/STIS GO/12228 program enable direct inter-comparison of the architectures of these exoplanetary debris systems in the context of our own Solar System.

stellocentric distances

t9p

A lightweight 9P2000.L client and file system driver for RTEMS and Linux. t9p is designed to operate on performance constrained systems with as little as 16MB of memory and a single core.

Lorelli, Jeremy [SLAC National Accelerator Laborat

Equations of motion of a constrained split fairing system during opening.

Description of a constrained split fairing technique for avoiding contamination of a sounding rocket's payload environment by an uncontained explosive actuation device. The development is presented of the equations of motion of the fairing halves during the opening sequence assumed to occur above the sensible atmosphere. It is believed that a significant insight into the general motion results from the solution obtained.

Saunders, R. C., Jr.

Safe and Robust Binary Classification and Fault Detection Using Reinforcement Learning

In this paper, we propose a learning-based method utilizing the Soft Actor-Critic (SAC) algorithm to train a binary Support Vector Machine (SVM) classifier. This classifier is designed to identify valid input spaces in high-dimensional, highly constrained systems while minimizing the total runtime of offline simulations. The simulations adapt their runtime based on the likelihood that a given training input will be informative to the classifier. Furthermore, we introduce a method for using the trained SAC model to predict whether a desired system input is likely to violate constraints, along with a technique to adjust the input as necessary. Additionally, we explore the potential of this model to detect faults or adversarial attacks within the system. The effectiveness of our approach is demonstrated through various simulations of challenging classification problems and a constrained quadrotor model.

Netter, Josh [Georgia Institute of Technology, Atl

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Sarkar, Nilanjan

Control System Architectures, Technologies and Concepts for Near Term and Future Human Exploration of Space

Technologies that facilitate the design and control of complex, hybrid, and resource-constrained systems are examined. This paper focuses on design methodologies, and system architectures, not on specific control methods that may be applied to life support subsystems. Honeywell and Boeing have estimated that 60-80Y0 of the effort in developing complex control systems is software development, and only 20-40% is control system development. It has also been shown that large software projects have failure rates of as high as 50-65%. Concepts discussed include the Unified Modeling Language (UML) and design patterns with the goal of creating a self-improving, self-documenting system design process. Successful architectures for control must not only facilitate hardware to software integration, but must also reconcile continuously changing software with much less frequently changing hardware. These architectures rely on software modules or components to facilitate change. Architecting such systems for change leverages the interfaces between these modules or components.

Boulanger, Richard

Acoustic-radiation stress in solids. I - Theory

The general case of acoustic-radiation stress associated with quasi-compressional and quasi-shear waves propagating in infinite and semiinfinite lossless solids of arbitrary crystalline symmetry is studied. The Boussinesq radiation stress is defined and found to depend directly on an acoustic nonlinearity parameter which characterizes the radiation-induced static strain, a stress-generalized nonlinearity parameter which characterizes the stress nonlinearity, and the energy density of the propagating wave. Application of the Boltzmann-Ehrenfest principle of adiabatic invariance to a self-constrained system described by the nonlinear equations of motion allows the acoustic-radiation-induced static strain to be identified with a self-constrained variation in the time-averaged product of the internal energy density and displacement gradient. The time-averaged product is scaled by the acoustic nonlinearity parameter and represents the first-order nonlinearity in the virial theorem. Finally, the relationship between the Boussinesq and the Cauchy radiation stress is obtained in a closed three-dimensional form.

Cantrell, J. H., Jr.

Reactive system verification case study: Fault-tolerant transputer communication

A reactive program is one which engages in an ongoing interaction with its environment. A system which is controlled by an embedded reactive program is called a reactive system. Examples of reactive systems are aircraft flight management systems, bank automatic teller machine (ATM) networks, airline reservation systems, and computer operating systems. Reactive systems are often naturally modeled (for logical design purposes) as a composition of autonomous processes which progress concurrently and which communicate to share information and/or to coordinate activities. Formal (i.e., mathematical) frameworks for system verification are tools used to increase the users' confidence that a system design satisfies its specification. A framework for reactive system verification includes formal languages for system modeling and for behavior specification and decision procedures and/or proof-systems for verifying that the system model satisfies the system specifications. Using the Ostroff framework for reactive system verification, an approach to achieving fault-tolerant communication between transputers was shown to be effective. The key components of the design, the decoupler processes, may be viewed as discrete-event-controllers introduced to constrain system behavior such that system specifications are satisfied. The Ostroff framework was also effective. The expressiveness of the modeling language permitted construction of a faithful model of the transputer network. The relevant specifications were readily expressed in the specification language. The set of decision procedures provided was adequate to verify the specifications of interest. The need for improved support for system behavior visualization is emphasized.

Crane, D. Francis

Mission and System Advantages of Iodine Hall Thrusters

The exploration of alternative propellants for Hall thrusters continues to be of interest to the community. Investments have been made and continue for the maturation of iodine based Hall thrusters. Iodine testing has shown comparable performance to xenon. However, iodine has a higher storage density and resulting higher ΔV capability for volume constrained systems. Iodine's vapor pressure is low enough to permit low-pressure storage, but high enough to minimize potential adverse spacecraft-thruster interactions. The low vapor pressure also means that iodine does not condense inside the thruster at ordinary operating temperatures. Iodine is safe, it stores at sub-atmospheric pressure, and can be stored unregulated for years on end; whether on the ground or on orbit. Iodine fills a niche for both low power (<1kW) and high power (>10kW) electric propulsion regimes. A range of missions have been evaluated for direct comparison of Iodine and Xenon options. The results show advantages of iodine Hall systems for both small and microsatellite application and for very large exploration class missions.

Dankanich, John W.

Particle acceleration during classical phase transitions on a spherical lattice

Abstract When compressed, certain lattices undergo phase transitions that may allow nuclei to gain significant kinetic energy. To explore the dynamics of this phenomenon, we develop a methodology to study Coulomb coupled N -body systems constrained to a sphere, as in the Thomson problem. We initialize N total Boron nuclei as point particles on the surface of the sphere, allowing them to equilibrate via Coulomb scattering with a viscous damping term. To simulate a phase transition, we remove N rm particles, forcing the system to rearrange into a new equilibrium. With this model, we consider the Thomson problem as a dynamical system, providing a framework to explore how non-zero temperature affects structural imperfections in Thomson minima. We develop a scaling relation for the average peak kinetic energy attained by a single particle as a function of N and N rm . For certain values of N , we find an order of magnitude energy gain when increasing N rm from 1 to 6. The model may help to design a lattice that maximizes the energy output.

Bachmann, Aidan M. (ORCID:0000000294706404)

Attitude stability of spinning flexible spacecraft

The stability of spinning flexible satellites in a force-free environment was analyzed. The satellite was modeled as a rigid core having attached to it a flexible appendage idealized as a collection of particles (point masses) interconnected by springs. Both Liapunov and Routh-Hurwitz stability procedures are used. In the former, the Hamiltonian of the system, constrained through the angular momentum integral so as to admit complete damping, is used as a testing function. Equations of motion are written using the hybrid coordinate formulation, which readily accepts a modal coordinate transformation ultimately allowing truncation to a level amenable to literal stability analysis. Closed form stability criteria are generated for the first mode of a restricted appendage model lying in a plane containing the system center of mass and orthogonal to the spin axis. The effects of spin on flexible bodies are discussed by considering a very elementary particle model. Control of passively unstable spacecraft is briefly considered.

Likins, P. W.